Improvement of harmonic dissector for minimal invasive surgery, modeling and the stiffness identification of the clipped object
Journal
CACS 2015 - 2015 CACS International Automatic Control Conference
ISBN
9781467365734
Date Issued
2016-01-11
Author(s)
Abstract
In this paper, the modeling for the harmonic dissector in minimal invasive surgery (MIS) is proposed. This model is the series connection of a mass-spring-damper system and a nonlinear system. The former is based on the mechanical property of the dissector, and the latter is in the fundamental of the hysteresis description of the piezo-actuator, which is the driving part of the dissector. In addition, based on hysteresis compensation and force control, this paper also proposed a method which can be used to identify the stiffness of the object which is clipped by the dissector. In terms of the stiffness identification, this paper only introduces a theoretical approach. As for the experimental validation, it will be carried out in the future work.
Subjects
force control | harmonic dissector | Minimally invasive surgery | modeling | stiffness identification
Type
conference paper